Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
1. A method, comprising: obtaining a first image from a first imaging modality, extracting at least one element from the first image from the first imaging modality, wherein the at least one element comprises an airway, a blood vessel, a body cavity, or any combination thereof; obtaining, from a second imaging modality, at least (i) a first image of a radiopaque instrument in a first pose of second imaging modality and (ii) a second image of the radiopaque instrument in a second pose of second imaging modality, wherein the radiopaque instrument is in a body cavity of a patient; generating at least two augmented bronchograms, wherein a first augmented bronchogram corresponds to the first image of the second imaging modality in the first pose, and wherein a second augmented bronchogram corresponds to the second image of the second imaging modality in the second pose, determining mutual geometric constraints between: (i) the first pose of the of second imaging modality, and (ii) the second pose of the of second imaging modality, estimating the first pose of the of second imaging modality and the second pose of the of second imaging modality, wherein the estimation is performed using: (i) the first augmented bronchogram, (ii) the second augmented bronchogram, and (iii) the at least one element, and wherein the estimated first pose of the of second imaging modality and the estimated second pose of the of second imaging modality meets the determined mutual geometric constraints, generating a third image; wherein the third image is an augmented image derived from the second imaging modality which highlights an area of interest, wherein the area of interest is determined from projecting data from the estimated first pose and the estimated second pose.
This invention relates to medical imaging and navigation, specifically for enhancing visualization of anatomical structures and radiopaque instruments within a patient's body. The method addresses challenges in accurately tracking and visualizing instruments during procedures such as bronchoscopy or vascular interventions, where precise navigation is critical but often hindered by limited imaging clarity or misalignment between different imaging modalities. The method involves obtaining a first image from a primary imaging modality, such as a CT scan, and extracting anatomical elements like airways, blood vessels, or body cavities. Additionally, it acquires at least two images from a secondary imaging modality (e.g., fluoroscopy) showing a radiopaque instrument in different poses within a patient's body cavity. The method then generates augmented bronchograms for each pose, which combine anatomical data with instrument positioning. By analyzing these augmented bronchograms and the extracted anatomical elements, the method determines geometric constraints between the two poses and estimates their positions. The estimated poses are used to generate a final augmented image that highlights an area of interest, derived from projecting data from the estimated poses. This enhances real-time navigation by providing a more accurate and context-rich visualization of the instrument's location relative to critical anatomical structures.
2. The method of claim 1 , wherein there is additional element from the first image from the first imaging modality and second image of second imaging modality further comprises a rib, a vertebra, a diaphragm, or any combination thereof.
This invention relates to medical imaging and the alignment of images from different imaging modalities, such as CT and MRI, to improve diagnostic accuracy. The problem addressed is the difficulty in precisely aligning anatomical structures across different imaging techniques, which can lead to misinterpretation or missed abnormalities. The solution involves a method for aligning a first image from a first imaging modality with a second image from a second imaging modality, where the alignment is enhanced by incorporating additional anatomical landmarks. These landmarks include ribs, vertebrae, the diaphragm, or any combination thereof. By identifying and matching these structures between the two images, the method ensures more accurate spatial correlation, reducing errors in diagnosis and treatment planning. The technique is particularly useful in scenarios where soft tissue contrast varies between modalities, such as when comparing CT scans with MRI images. The inclusion of skeletal and diaphragmatic features provides stable reference points that improve registration accuracy, even in cases where other anatomical features may be less distinct. This method enhances the reliability of multi-modal imaging analysis in clinical practice.
3. The method of claim 1 , wherein the mutual geometric constraints are generated by: a. estimating a difference between (i) the first pose and (ii) the second pose by comparing the first image of the radiopaque instrument and the second image of the radiopaque instrument, wherein the estimating is performed using a device comprising a protractor, an accelerometer, a gyroscope, or any combination thereof, and wherein the device is attached to the second imaging modality; b. extracting a plurality of image features to estimate a relative pose change, wherein the plurality of image features comprise anatomical elements, non-anatomical elements, or any combination thereof, wherein the image features comprise: patches attached to a patient, radiopaque markers positioned in a field of view of the second imaging modality, or any combination thereof, wherein the image features are visible on the first image of the radiopaque instrument and the second image of the radiopaque instrument; c. estimating a difference between (i) the first pose and (ii) the second pose by using a at least one camera, wherein the camera comprises: a video camera, an infrared camera, a depth camera, or any combination thereof, wherein the camera is at a fixed location, wherein the camera is configured to track at least one feature, wherein the at least one feature comprises: a marker attached the patient, a marker attached to the second imaging modality, or any combination thereof, and tracking the at least one feature; d. or any combination thereof.
This invention relates to medical imaging systems that track the relative movement between a radiopaque instrument and a second imaging modality, such as an X-ray or fluoroscopy system, to maintain accurate spatial alignment. The problem addressed is ensuring consistent geometric constraints between the instrument and the imaging system, which is critical for precise navigation and intervention in procedures like surgery or diagnostics. The method involves generating mutual geometric constraints by estimating the difference between a first pose and a second pose of the radiopaque instrument. This estimation is performed using one or more techniques. First, a device such as a protractor, accelerometer, or gyroscope attached to the second imaging modality measures the pose difference. Second, image features—including anatomical or non-anatomical elements like patches on the patient or radiopaque markers—are extracted from images of the instrument to determine relative pose changes. Third, a fixed-position camera (e.g., video, infrared, or depth) tracks markers on the patient or imaging system to monitor movement. The constraints are derived from any combination of these methods, ensuring robust tracking despite potential motion or misalignment. This approach enhances the accuracy of image-guided procedures by dynamically compensating for shifts in the imaging setup.
4. The method of claim 1 , further comprising: tracking the radiopaque instrument for: identifying a trajectory, and using the trajectory as a further geometric constraint, wherein the radiopaque instrument comprises an endoscope, an endo-bronchial tool, or a robotic arm.
This invention relates to medical imaging and navigation systems, specifically for tracking radiopaque instruments during minimally invasive procedures. The problem addressed is the need for precise tracking of surgical tools within the body to improve accuracy and safety during interventions such as endoscopy, bronchoscopy, or robotic-assisted surgery. The invention involves a method for tracking a radiopaque instrument—such as an endoscope, endo-bronchial tool, or robotic arm—using imaging systems like fluoroscopy or computed tomography (CT). The method identifies the instrument's trajectory within the body, which is then used as a geometric constraint to guide the procedure. This trajectory data helps ensure the instrument follows an intended path, reducing the risk of errors or complications. The system may also integrate with pre-operative imaging to enhance real-time navigation. By providing dynamic tracking and trajectory analysis, the invention improves the precision of minimally invasive interventions, particularly in complex anatomical regions where manual guidance is challenging. The method is designed to work with various radiopaque instruments, making it adaptable to different medical procedures.
5. The method of claim 1 , wherein the first image from the first imaging modality is a pre-operative image.
This invention relates to medical imaging systems that combine data from multiple imaging modalities to improve diagnostic accuracy. The problem addressed is the difficulty in correlating anatomical features across different imaging techniques, such as MRI, CT, or ultrasound, due to variations in image quality, resolution, or patient positioning. The solution involves a method for registering and fusing images from at least two different imaging modalities to create a composite image that enhances visualization of anatomical structures. The method begins by acquiring a first image from a first imaging modality and a second image from a second imaging modality. The first image is a pre-operative image, which provides a baseline anatomical reference. The second image is typically an intra-operative or real-time image, such as an ultrasound scan, that captures dynamic changes during a procedure. The method then aligns the two images by identifying corresponding anatomical landmarks or using automated registration algorithms. Once aligned, the images are fused to generate a composite image that combines the strengths of both modalities, such as the high-resolution structural details from the pre-operative image and the real-time functional data from the intra-operative image. This composite image is then displayed to assist clinicians in navigation, diagnosis, or treatment planning. The method may also include adjusting the fusion parameters based on user input or automated feedback to optimize image quality and accuracy. The invention improves diagnostic confidence and procedural precision by providing a more comprehensive view of the anatomy.
6. The method of claim 1 , wherein the at least one image of the radiopaque instrument from the second imaging modality is an intra-operative image.
This invention relates to medical imaging systems that integrate data from multiple imaging modalities to enhance visualization of radiopaque instruments during surgical procedures. The problem addressed is the difficulty in accurately tracking and visualizing such instruments in real-time, particularly when using different imaging techniques like fluoroscopy and computed tomography (CT). The solution involves acquiring at least one image of a radiopaque instrument from a second imaging modality, where this image is captured intra-operatively, meaning it is taken during the surgical procedure itself. This intra-operative image provides real-time or near-real-time data that can be fused with pre-operative or other imaging data to improve instrument localization and guidance. The method ensures that the instrument's position is accurately reflected in the combined imaging output, aiding surgeons in precise navigation and reducing errors. The integration of intra-operative images from the second modality enhances the reliability of the system by accounting for any shifts or movements that may occur during surgery, ensuring that the instrument's position is continuously updated. This approach is particularly useful in minimally invasive procedures where precise instrument tracking is critical.
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June 9, 2020
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